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In this paper, the authors present a distributed, self-organizing, localization method for wireless sensors and a scheme for reducing position estimate errors by employing a novel concept of cliques of nodes. They describe an applicable theoretical foundation of peer-to-peer Distance-Vector (DV) exchange algorithm, which can operate without any manual pre-configuration. This method allows for propagating the complete information of a reference system (i.e., axes orientation and origin position) using angle and range measurements. In order to take advantage of possible spatial-diversity of measurements and to produce enhanced position estimates, they propose here an enhancement method which is based on groups of interconnected nodes (cliques) to combine localization measurements using a Minimum-Square-Error (MSE) criterion and spatial transformations.
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